410 lines
7.7 KiB
JSON
410 lines
7.7 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"stage": "initial_triangulation",
|
|
"created_utc": "2026-06-02T21:18:29Z",
|
|
"summary": {
|
|
"num_cameras": 3,
|
|
"num_markers": 18,
|
|
"num_constraints": 94
|
|
},
|
|
"cameras": [
|
|
{
|
|
"camera_id": "b",
|
|
"position_m": [
|
|
0.3032080331514599,
|
|
-0.8954064004634189,
|
|
1.2012942891546714
|
|
],
|
|
"position_mm": [
|
|
303.2080331514599,
|
|
-895.4064004634189,
|
|
1201.2942891546713
|
|
],
|
|
"direction": [
|
|
0.005782749503850937,
|
|
0.6244387030601501,
|
|
-0.7810524106025696
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "c",
|
|
"position_m": [
|
|
0.30460041510025276,
|
|
-0.9022090407414753,
|
|
0.3986456232339163
|
|
],
|
|
"position_mm": [
|
|
304.60041510025275,
|
|
-902.2090407414753,
|
|
398.6456232339163
|
|
],
|
|
"direction": [
|
|
-0.10995042324066162,
|
|
0.9492284059524536,
|
|
-0.2947479486465454
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "d",
|
|
"position_m": [
|
|
0.7026420377142895,
|
|
-0.794595122683283,
|
|
0.4010946796990027
|
|
],
|
|
"position_mm": [
|
|
702.6420377142895,
|
|
-794.5951226832831,
|
|
401.0946796990027
|
|
],
|
|
"direction": [
|
|
-0.5536129474639893,
|
|
0.7829245924949646,
|
|
-0.2837987542152405
|
|
]
|
|
}
|
|
],
|
|
"markers": [
|
|
{
|
|
"marker_id": 40,
|
|
"position_m": [
|
|
0.3061985311293058,
|
|
-0.20102564800069694,
|
|
0.024846626739533993
|
|
],
|
|
"position_mm": [
|
|
306.19853112930576,
|
|
-201.02564800069695,
|
|
24.846626739533992
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
-0.4224220616915755,
|
|
0.0,
|
|
-0.9063992507699015
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 45,
|
|
"position_m": [
|
|
0.3544143987288283,
|
|
-0.19907772692264217,
|
|
0.020194970498508887
|
|
],
|
|
"position_mm": [
|
|
354.4143987288283,
|
|
-199.07772692264217,
|
|
20.194970498508887
|
|
],
|
|
"link": "FingerB",
|
|
"normal": [
|
|
-0.8830215713766957,
|
|
-0.3090575499818435,
|
|
-0.3532086285506783
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 50,
|
|
"position_m": [
|
|
0.5711062778300803,
|
|
0.21167185790153248,
|
|
-0.027236392665058094
|
|
],
|
|
"position_mm": [
|
|
571.1062778300803,
|
|
211.6718579015325,
|
|
-27.236392665058094
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"position_m": [
|
|
0.16790472500640152,
|
|
-0.1736307928678742,
|
|
-0.027565390441993493
|
|
],
|
|
"position_mm": [
|
|
167.90472500640152,
|
|
-173.6307928678742,
|
|
-27.565390441993493
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.4020709029134767,
|
|
-0.17287683472016446,
|
|
-0.028123519131218005
|
|
],
|
|
"position_mm": [
|
|
402.0709029134767,
|
|
-172.87683472016445,
|
|
-28.123519131218004
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.019687047586059325,
|
|
-0.18904874285087692,
|
|
-0.027644316419293775
|
|
],
|
|
"position_mm": [
|
|
-19.687047586059325,
|
|
-189.04874285087692,
|
|
-27.644316419293776
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"position_m": [
|
|
0.00555495322695158,
|
|
-0.2774649024805902,
|
|
-0.027478254848490234
|
|
],
|
|
"position_mm": [
|
|
5.5549532269515804,
|
|
-277.4649024805902,
|
|
-27.478254848490234
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"position_m": [
|
|
0.18670280180648224,
|
|
-0.2767750701934641,
|
|
-0.02712429999447797
|
|
],
|
|
"position_mm": [
|
|
186.70280180648226,
|
|
-276.7750701934641,
|
|
-27.12429999447797
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"position_m": [
|
|
0.37184117858824706,
|
|
-0.18370226748878932,
|
|
-0.028303665298172874
|
|
],
|
|
"position_mm": [
|
|
371.84117858824703,
|
|
-183.70226748878932,
|
|
-28.303665298172874
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.10464053694446832,
|
|
-0.19094801129483166,
|
|
-0.02722239609966831
|
|
],
|
|
"position_mm": [
|
|
104.64053694446831,
|
|
-190.94801129483167,
|
|
-27.222396099668313
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"position_m": [
|
|
0.31074800802146557,
|
|
-0.15450808505313773,
|
|
0.15671916222272697
|
|
],
|
|
"position_mm": [
|
|
310.7480080214656,
|
|
-154.50808505313773,
|
|
156.71916222272696
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"position_m": [
|
|
0.022198968910322078,
|
|
-0.021583815641211285,
|
|
0.0019081402621860344
|
|
],
|
|
"position_mm": [
|
|
22.198968910322076,
|
|
-21.583815641211284,
|
|
1.9081402621860344
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 211,
|
|
"position_m": [
|
|
0.2534764225210652,
|
|
-0.009923104246820535,
|
|
0.0006217621524497073
|
|
],
|
|
"position_mm": [
|
|
253.47642252106522,
|
|
-9.923104246820534,
|
|
0.6217621524497072
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 218,
|
|
"position_m": [
|
|
0.3536314171939221,
|
|
-0.09947516209694193,
|
|
0.19956923774735225
|
|
],
|
|
"position_mm": [
|
|
353.6314171939221,
|
|
-99.47516209694193,
|
|
199.56923774735225
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 242,
|
|
"position_m": [
|
|
0.23240905503122794,
|
|
-0.04893755321345677,
|
|
0.2586224195999469
|
|
],
|
|
"position_mm": [
|
|
232.40905503122795,
|
|
-48.937553213456766,
|
|
258.6224195999469
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.2311178083974748,
|
|
-0.03671009503342191,
|
|
0.3056747067511341
|
|
],
|
|
"position_mm": [
|
|
231.11780839747482,
|
|
-36.71009503342191,
|
|
305.6747067511341
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 246,
|
|
"position_m": [
|
|
0.3209492607624974,
|
|
-0.04460980298778073,
|
|
0.29718427648412704
|
|
],
|
|
"position_mm": [
|
|
320.94926076249743,
|
|
-44.60980298778073,
|
|
297.18427648412705
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 247,
|
|
"position_m": [
|
|
0.2826428590363119,
|
|
-0.04065528855671498,
|
|
0.30175469458681975
|
|
],
|
|
"position_mm": [
|
|
282.6428590363119,
|
|
-40.65528855671498,
|
|
301.75469458681977
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
}
|
|
]
|
|
} |